3380h Feedback Sensorless Observer Function Contains measurement and configuration values that are necessary for the sensorless control in Closed Loop and the current control in Open Loop. The values depend on the motor and is pre-configured, do not change them. Should they be changed, set all parameters of the category Sensors back to default zurück (see Saving objects ) . Object description Index 3380h Object name Feedback Sensorless Observer Object Code ARRAY Data type UNSIGNED32 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v2013-B726332 Change history Firmware version FIR-v2013-B726332: The number of entries was changed from 7 to 6. Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Firmware Version FIR-v2602: Object renamed and adjusted to the new Sensorless Observer. Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 09h Subindex 01h Name Motor Resistance R [Ω] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 3F1C0A58h PD2-EB42MB-ES-x-1: 3F1C0A58h PD2-EB42MB-M-x-1: 3F1C0A58h PD2-EB42MB-MS-x-1: 3F1C0A58h PD2-EB42MD-E-x-1: 4001C30Dh PD2-EB42MD-ES-x-1: 4001C30Dh PD2-EB42MD-M-x-1: 4001C30Dh PD2-EB42MD-MS-x-1: 4001C30Dh PD2-EB42LB-E-x-1: 3EAB16C9h PD2-EB42LB-ES-x-1: 3EAB16C9h PD2-EB42LB-M-x-1: 3EAB16C9h PD2-EB42LB-MS-x-1: 3EAB16C9h PD2-EB42LD-E-x-1: 3F9E65BEh PD2-EB42LD-ES-x-1: 3F9E65BEh PD2-EB42LD-M-x-1: 3F9E65BEh PD2-EB42LD-MS-x-1: 3F9E65BEh PD2-EB42CD-E-x-1: 3F5CF39Ch PD2-EB42CD-ES-x-1: 3F5CF39Ch PD2-EB42CD-M-x-1: 3F5CF39Ch PD2-EB42CD-MS-x-1: 3F5CF39Ch PD2-E421M-E-x-1: 3FA396B6h PD2-E421M-ES-x-1: 3FA396B6h PD2-E421M-M-x-1: 3FA396B6h PD2-E421M-MS-x-1: 3FA396B6h PD2-E421L-E-x-1: 3FF818E6h PD2-E421L-ES-x-1: 3FF818E6h PD2-E421L-M-x-1: 3FF818E6h PD2-E421L-MS-x-1: 3FF818E6h PD2-E421D-E-x-1: 404E8460h PD2-E421D-ES-x-1: 404E8460h PD2-E421D-M-x-1: 404E8460h PD2-E421D-MS-x-1: 404E8460h Subindex 02h Name Absolute Inductance Ld,abs [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39B38F0Ch PD2-EB42MB-ES-x-1: 39B38F0Ch PD2-EB42MB-M-x-1: 39B38F0Ch PD2-EB42MB-MS-x-1: 39B38F0Ch PD2-EB42MD-E-x-1: 3AA9BBFAh PD2-EB42MD-ES-x-1: 3AA9BBFAh PD2-EB42MD-M-x-1: 3AA9BBFAh PD2-EB42MD-MS-x-1: 3AA9BBFAh PD2-EB42LB-E-x-1: 39511AC0h PD2-EB42LB-ES-x-1: 39511AC0h PD2-EB42LB-M-x-1: 39511AC0h PD2-EB42LB-MS-x-1: 39511AC0h PD2-EB42LD-E-x-1: 3A526908h PD2-EB42LD-ES-x-1: 3A526908h PD2-EB42LD-M-x-1: 3A526908h PD2-EB42LD-MS-x-1: 3A526908h PD2-EB42CD-E-x-1: 3A1497DBh PD2-EB42CD-ES-x-1: 3A1497DBh PD2-EB42CD-M-x-1: 3A1497DBh PD2-EB42CD-MS-x-1: 3A1497DBh PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 03h Name Permanent Magnet Flux Linkage [V/rad/s] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 3C47B8A6h PD2-EB42MB-ES-x-1: 3C47B8A6h PD2-EB42MB-M-x-1: 3C47B8A6h PD2-EB42MB-MS-x-1: 3C47B8A6h PD2-EB42MD-E-x-1: 3CC51E1Fh PD2-EB42MD-ES-x-1: 3CC51E1Fh PD2-EB42MD-M-x-1: 3CC51E1Fh PD2-EB42MD-MS-x-1: 3CC51E1Fh PD2-EB42LB-E-x-1: 3C4FE73Ah PD2-EB42LB-ES-x-1: 3C4FE73Ah PD2-EB42LB-M-x-1: 3C4FE73Ah PD2-EB42LB-MS-x-1: 3C4FE73Ah PD2-EB42LD-E-x-1: 3CCB8A70h PD2-EB42LD-ES-x-1: 3CCB8A70h PD2-EB42LD-M-x-1: 3CCB8A70h PD2-EB42LD-MS-x-1: 3CCB8A70h PD2-EB42CD-E-x-1: 3CCDE85Ah PD2-EB42CD-ES-x-1: 3CCDE85Ah PD2-EB42CD-M-x-1: 3CCDE85Ah PD2-EB42CD-MS-x-1: 3CCDE85Ah PD2-E421M-E-x-1: 3B5333F7h PD2-E421M-ES-x-1: 3B5333F7h PD2-E421M-M-x-1: 3B5333F7h PD2-E421M-MS-x-1: 3B5333F7h PD2-E421L-E-x-1: 3BB54889h PD2-E421L-ES-x-1: 3BB54889h PD2-E421L-M-x-1: 3BB54889h PD2-E421L-MS-x-1: 3BB54889h PD2-E421D-E-x-1: 3C0B3B01h PD2-E421D-ES-x-1: 3C0B3B01h PD2-E421D-M-x-1: 3C0B3B01h PD2-E421D-MS-x-1: 3C0B3B01h Subindex 04h Name Upper Speed Hysteresis Threshold [rpm] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000230h PD2-EB42MB-E-x-1: 000002BCh PD2-EB42MB-ES-x-1: 000002BCh PD2-EB42MB-M-x-1: 000002BCh PD2-EB42MB-MS-x-1: 000002BCh PD2-EB42MD-E-x-1: 000002BCh PD2-EB42MD-ES-x-1: 000002BCh PD2-EB42MD-M-x-1: 000002BCh PD2-EB42MD-MS-x-1: 000002BCh PD2-EB42LB-E-x-1: 000002BCh PD2-EB42LB-ES-x-1: 000002BCh PD2-EB42LB-M-x-1: 000002BCh PD2-EB42LB-MS-x-1: 000002BCh PD2-EB42LD-E-x-1: 000002BCh PD2-EB42LD-ES-x-1: 000002BCh PD2-EB42LD-M-x-1: 000002BCh PD2-EB42LD-MS-x-1: 000002BCh PD2-EB42CD-E-x-1: 000002BCh PD2-EB42CD-ES-x-1: 000002BCh PD2-EB42CD-M-x-1: 000002BCh PD2-EB42CD-MS-x-1: 000002BCh PD2-E421M-E-x-1: 0000012Ch PD2-E421M-ES-x-1: 0000012Ch PD2-E421M-M-x-1: 0000012Ch PD2-E421M-MS-x-1: 0000012Ch PD2-E421L-E-x-1: 0000012Ch PD2-E421L-ES-x-1: 0000012Ch PD2-E421L-M-x-1: 0000012Ch PD2-E421L-MS-x-1: 0000012Ch PD2-E421D-E-x-1: 000001F4h PD2-E421D-ES-x-1: 000001F4h PD2-E421D-M-x-1: 000001F4h PD2-E421D-MS-x-1: 000001F4h Subindex 05h Name Lower Speed Hysteresis Threshold [rpm] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000154h PD2-EB42MB-E-x-1: 00000167h PD2-EB42MB-ES-x-1: 00000167h PD2-EB42MB-M-x-1: 00000167h PD2-EB42MB-MS-x-1: 00000167h PD2-EB42MD-E-x-1: 0000016Ch PD2-EB42MD-ES-x-1: 0000016Ch PD2-EB42MD-M-x-1: 0000016Ch PD2-EB42MD-MS-x-1: 0000016Ch PD2-EB42LB-E-x-1: 00000159h PD2-EB42LB-ES-x-1: 00000159h PD2-EB42LB-M-x-1: 00000159h PD2-EB42LB-MS-x-1: 00000159h PD2-EB42LD-E-x-1: 00000161h PD2-EB42LD-ES-x-1: 00000161h PD2-EB42LD-M-x-1: 00000161h PD2-EB42LD-MS-x-1: 00000161h PD2-EB42CD-E-x-1: 0000015Dh PD2-EB42CD-ES-x-1: 0000015Dh PD2-EB42CD-M-x-1: 0000015Dh PD2-EB42CD-MS-x-1: 0000015Dh PD2-E421M-E-x-1: 0000009Bh PD2-E421M-ES-x-1: 0000009Bh PD2-E421M-M-x-1: 0000009Bh PD2-E421M-MS-x-1: 0000009Bh PD2-E421L-E-x-1: 0000005Bh PD2-E421L-ES-x-1: 0000005Bh PD2-E421L-M-x-1: 0000005Bh PD2-E421L-MS-x-1: 0000005Bh PD2-E421D-E-x-1: 00000076h PD2-E421D-ES-x-1: 00000076h PD2-E421D-M-x-1: 00000076h PD2-E421D-MS-x-1: 00000076h Subindex 06h Name Absolute Inductance Lq,abs [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39DFEFC7h PD2-EB42MB-ES-x-1: 39DFEFC7h PD2-EB42MB-M-x-1: 39DFEFC7h PD2-EB42MB-MS-x-1: 39DFEFC7h PD2-EB42MD-E-x-1: 3AD877D5h PD2-EB42MD-ES-x-1: 3AD877D5h PD2-EB42MD-M-x-1: 3AD877D5h PD2-EB42MD-MS-x-1: 3AD877D5h PD2-EB42LB-E-x-1: 3987FC31h PD2-EB42LB-ES-x-1: 3987FC31h PD2-EB42LB-M-x-1: 3987FC31h PD2-EB42LB-MS-x-1: 3987FC31h PD2-EB42LD-E-x-1: 3A879D7Dh PD2-EB42LD-ES-x-1: 3A879D7Dh PD2-EB42LD-M-x-1: 3A879D7Dh PD2-EB42LD-MS-x-1: 3A879D7Dh PD2-EB42CD-E-x-1: 3A3F32B1h PD2-EB42CD-ES-x-1: 3A3F32B1h PD2-EB42CD-M-x-1: 3A3F32B1h PD2-EB42CD-MS-x-1: 3A3F32B1h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 07h Name Differential Inductance Ld,diff [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39ADD759h PD2-EB42MB-ES-x-1: 39ADD759h PD2-EB42MB-M-x-1: 39ADD759h PD2-EB42MB-MS-x-1: 39ADD759h PD2-EB42MD-E-x-1: 3AA10286h PD2-EB42MD-ES-x-1: 3AA10286h PD2-EB42MD-M-x-1: 3AA10286h PD2-EB42MD-MS-x-1: 3AA10286h PD2-EB42LB-E-x-1: 39453C75h PD2-EB42LB-ES-x-1: 39453C75h PD2-EB42LB-M-x-1: 39453C75h PD2-EB42LB-MS-x-1: 39453C75h PD2-EB42LD-E-x-1: 3A4807E1h PD2-EB42LD-ES-x-1: 3A4807E1h PD2-EB42LD-M-x-1: 3A4807E1h PD2-EB42LD-MS-x-1: 3A4807E1h PD2-EB42CD-E-x-1: 3A0CC9E9h PD2-EB42CD-ES-x-1: 3A0CC9E9h PD2-EB42CD-M-x-1: 3A0CC9E9h PD2-EB42CD-MS-x-1: 3A0CC9E9h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 08h Name Differential Inductance Lq,diff [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39D92513h PD2-EB42MB-ES-x-1: 39D92513h PD2-EB42MB-M-x-1: 39D92513h PD2-EB42MB-MS-x-1: 39D92513h PD2-EB42MD-E-x-1: 3ACD576Fh PD2-EB42MD-ES-x-1: 3ACD576Fh PD2-EB42MD-M-x-1: 3ACD576Fh PD2-EB42MD-MS-x-1: 3ACD576Fh PD2-EB42LB-E-x-1: 39804453h PD2-EB42LB-ES-x-1: 39804453h PD2-EB42LB-M-x-1: 39804453h PD2-EB42LB-MS-x-1: 39804453h PD2-EB42LD-E-x-1: 3A80ECE2h PD2-EB42LD-ES-x-1: 3A80ECE2h PD2-EB42LD-M-x-1: 3A80ECE2h PD2-EB42LD-MS-x-1: 3A80ECE2h PD2-EB42CD-E-x-1: 3A3527E5h PD2-EB42CD-ES-x-1: 3A3527E5h PD2-EB42CD-M-x-1: 3A3527E5h PD2-EB42CD-MS-x-1: 3A3527E5h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 09h Name Skin-effect Factor Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 386402E1h PD2-EB42MB-ES-x-1: 386402E1h PD2-EB42MB-M-x-1: 386402E1h PD2-EB42MB-MS-x-1: 386402E1h PD2-EB42MD-E-x-1: 38AAAEE1h PD2-EB42MD-ES-x-1: 38AAAEE1h PD2-EB42MD-M-x-1: 38AAAEE1h PD2-EB42MD-MS-x-1: 38AAAEE1h PD2-EB42LB-E-x-1: 389C795Ch PD2-EB42LB-ES-x-1: 389C795Ch PD2-EB42LB-M-x-1: 389C795Ch PD2-EB42LB-MS-x-1: 389C795Ch PD2-EB42LD-E-x-1: 38DAE971h PD2-EB42LD-ES-x-1: 38DAE971h PD2-EB42LD-M-x-1: 38DAE971h PD2-EB42LD-MS-x-1: 38DAE971h PD2-EB42CD-E-x-1: 38B475ECh PD2-EB42CD-ES-x-1: 38B475ECh PD2-EB42CD-M-x-1: 38B475ECh PD2-EB42CD-MS-x-1: 38B475ECh PD2-E421M-E-x-1: 3A48AAB6h PD2-E421M-ES-x-1: 3A48AAB6h PD2-E421M-M-x-1: 3A48AAB6h PD2-E421M-MS-x-1: 3A48AAB6h PD2-E421L-E-x-1: 3A84AF40h PD2-E421L-ES-x-1: 3A84AF40h PD2-E421L-M-x-1: 3A84AF40h PD2-E421L-MS-x-1: 3A84AF40h PD2-E421D-E-x-1: 3AB1A44Dh PD2-E421D-ES-x-1: 3AB1A44Dh PD2-E421D-M-x-1: 3AB1A44Dh PD2-E421D-MS-x-1: 3AB1A44Dh Description The subindices have the following function: 01h: Winding resistance. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 02h: Winding inductance Ld, absolute. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 03h: Interlinking flux. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 04h: Switch-on speed in RPM. Above this speed, the Sensorless Observer is used for the determination of the rotor position in Closed loop. 05h: Switch-off speed in RPM. If the speed falls below this threshold, the Sensorless Observer is switched off and the encoder is used for the determination of the rotor position in Closed Loop or the controller switches back to Open Loop. 06h: Winding inductance Lq, absolute. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 07h: Winding inductance Ld, differential. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 08h: Winding inductance Lq, differential. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 09h: Skin effect factor. Factor for the compensation of the skin effect. The value depends on the motor and is pre-configured.
3380h Feedback Sensorless Observer Function Contains measurement and configuration values that are necessary for the sensorless control in Closed Loop and the current control in Open Loop. The values depend on the motor and is pre-configured, do not change them. Should they be changed, set all parameters of the category Sensors back to default zurück (see Saving objects ) . Object description Index 3380h Object name Feedback Sensorless Observer Object Code ARRAY Data type UNSIGNED32 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v2013-B726332 Change history Firmware version FIR-v2013-B726332: The number of entries was changed from 7 to 6. Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Firmware Version FIR-v2602: Object renamed and adjusted to the new Sensorless Observer. Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 09h Subindex 01h Name Motor Resistance R [Ω] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 3F1C0A58h PD2-EB42MB-ES-x-1: 3F1C0A58h PD2-EB42MB-M-x-1: 3F1C0A58h PD2-EB42MB-MS-x-1: 3F1C0A58h PD2-EB42MD-E-x-1: 4001C30Dh PD2-EB42MD-ES-x-1: 4001C30Dh PD2-EB42MD-M-x-1: 4001C30Dh PD2-EB42MD-MS-x-1: 4001C30Dh PD2-EB42LB-E-x-1: 3EAB16C9h PD2-EB42LB-ES-x-1: 3EAB16C9h PD2-EB42LB-M-x-1: 3EAB16C9h PD2-EB42LB-MS-x-1: 3EAB16C9h PD2-EB42LD-E-x-1: 3F9E65BEh PD2-EB42LD-ES-x-1: 3F9E65BEh PD2-EB42LD-M-x-1: 3F9E65BEh PD2-EB42LD-MS-x-1: 3F9E65BEh PD2-EB42CD-E-x-1: 3F5CF39Ch PD2-EB42CD-ES-x-1: 3F5CF39Ch PD2-EB42CD-M-x-1: 3F5CF39Ch PD2-EB42CD-MS-x-1: 3F5CF39Ch PD2-E421M-E-x-1: 3FA396B6h PD2-E421M-ES-x-1: 3FA396B6h PD2-E421M-M-x-1: 3FA396B6h PD2-E421M-MS-x-1: 3FA396B6h PD2-E421L-E-x-1: 3FF818E6h PD2-E421L-ES-x-1: 3FF818E6h PD2-E421L-M-x-1: 3FF818E6h PD2-E421L-MS-x-1: 3FF818E6h PD2-E421D-E-x-1: 404E8460h PD2-E421D-ES-x-1: 404E8460h PD2-E421D-M-x-1: 404E8460h PD2-E421D-MS-x-1: 404E8460h Subindex 02h Name Absolute Inductance Ld,abs [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39B38F0Ch PD2-EB42MB-ES-x-1: 39B38F0Ch PD2-EB42MB-M-x-1: 39B38F0Ch PD2-EB42MB-MS-x-1: 39B38F0Ch PD2-EB42MD-E-x-1: 3AA9BBFAh PD2-EB42MD-ES-x-1: 3AA9BBFAh PD2-EB42MD-M-x-1: 3AA9BBFAh PD2-EB42MD-MS-x-1: 3AA9BBFAh PD2-EB42LB-E-x-1: 39511AC0h PD2-EB42LB-ES-x-1: 39511AC0h PD2-EB42LB-M-x-1: 39511AC0h PD2-EB42LB-MS-x-1: 39511AC0h PD2-EB42LD-E-x-1: 3A526908h PD2-EB42LD-ES-x-1: 3A526908h PD2-EB42LD-M-x-1: 3A526908h PD2-EB42LD-MS-x-1: 3A526908h PD2-EB42CD-E-x-1: 3A1497DBh PD2-EB42CD-ES-x-1: 3A1497DBh PD2-EB42CD-M-x-1: 3A1497DBh PD2-EB42CD-MS-x-1: 3A1497DBh PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 03h Name Permanent Magnet Flux Linkage [V/rad/s] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 3C47B8A6h PD2-EB42MB-ES-x-1: 3C47B8A6h PD2-EB42MB-M-x-1: 3C47B8A6h PD2-EB42MB-MS-x-1: 3C47B8A6h PD2-EB42MD-E-x-1: 3CC51E1Fh PD2-EB42MD-ES-x-1: 3CC51E1Fh PD2-EB42MD-M-x-1: 3CC51E1Fh PD2-EB42MD-MS-x-1: 3CC51E1Fh PD2-EB42LB-E-x-1: 3C4FE73Ah PD2-EB42LB-ES-x-1: 3C4FE73Ah PD2-EB42LB-M-x-1: 3C4FE73Ah PD2-EB42LB-MS-x-1: 3C4FE73Ah PD2-EB42LD-E-x-1: 3CCB8A70h PD2-EB42LD-ES-x-1: 3CCB8A70h PD2-EB42LD-M-x-1: 3CCB8A70h PD2-EB42LD-MS-x-1: 3CCB8A70h PD2-EB42CD-E-x-1: 3CCDE85Ah PD2-EB42CD-ES-x-1: 3CCDE85Ah PD2-EB42CD-M-x-1: 3CCDE85Ah PD2-EB42CD-MS-x-1: 3CCDE85Ah PD2-E421M-E-x-1: 3B5333F7h PD2-E421M-ES-x-1: 3B5333F7h PD2-E421M-M-x-1: 3B5333F7h PD2-E421M-MS-x-1: 3B5333F7h PD2-E421L-E-x-1: 3BB54889h PD2-E421L-ES-x-1: 3BB54889h PD2-E421L-M-x-1: 3BB54889h PD2-E421L-MS-x-1: 3BB54889h PD2-E421D-E-x-1: 3C0B3B01h PD2-E421D-ES-x-1: 3C0B3B01h PD2-E421D-M-x-1: 3C0B3B01h PD2-E421D-MS-x-1: 3C0B3B01h Subindex 04h Name Upper Speed Hysteresis Threshold [rpm] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000230h PD2-EB42MB-E-x-1: 000002BCh PD2-EB42MB-ES-x-1: 000002BCh PD2-EB42MB-M-x-1: 000002BCh PD2-EB42MB-MS-x-1: 000002BCh PD2-EB42MD-E-x-1: 000002BCh PD2-EB42MD-ES-x-1: 000002BCh PD2-EB42MD-M-x-1: 000002BCh PD2-EB42MD-MS-x-1: 000002BCh PD2-EB42LB-E-x-1: 000002BCh PD2-EB42LB-ES-x-1: 000002BCh PD2-EB42LB-M-x-1: 000002BCh PD2-EB42LB-MS-x-1: 000002BCh PD2-EB42LD-E-x-1: 000002BCh PD2-EB42LD-ES-x-1: 000002BCh PD2-EB42LD-M-x-1: 000002BCh PD2-EB42LD-MS-x-1: 000002BCh PD2-EB42CD-E-x-1: 000002BCh PD2-EB42CD-ES-x-1: 000002BCh PD2-EB42CD-M-x-1: 000002BCh PD2-EB42CD-MS-x-1: 000002BCh PD2-E421M-E-x-1: 0000012Ch PD2-E421M-ES-x-1: 0000012Ch PD2-E421M-M-x-1: 0000012Ch PD2-E421M-MS-x-1: 0000012Ch PD2-E421L-E-x-1: 0000012Ch PD2-E421L-ES-x-1: 0000012Ch PD2-E421L-M-x-1: 0000012Ch PD2-E421L-MS-x-1: 0000012Ch PD2-E421D-E-x-1: 000001F4h PD2-E421D-ES-x-1: 000001F4h PD2-E421D-M-x-1: 000001F4h PD2-E421D-MS-x-1: 000001F4h Subindex 05h Name Lower Speed Hysteresis Threshold [rpm] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000154h PD2-EB42MB-E-x-1: 00000167h PD2-EB42MB-ES-x-1: 00000167h PD2-EB42MB-M-x-1: 00000167h PD2-EB42MB-MS-x-1: 00000167h PD2-EB42MD-E-x-1: 0000016Ch PD2-EB42MD-ES-x-1: 0000016Ch PD2-EB42MD-M-x-1: 0000016Ch PD2-EB42MD-MS-x-1: 0000016Ch PD2-EB42LB-E-x-1: 00000159h PD2-EB42LB-ES-x-1: 00000159h PD2-EB42LB-M-x-1: 00000159h PD2-EB42LB-MS-x-1: 00000159h PD2-EB42LD-E-x-1: 00000161h PD2-EB42LD-ES-x-1: 00000161h PD2-EB42LD-M-x-1: 00000161h PD2-EB42LD-MS-x-1: 00000161h PD2-EB42CD-E-x-1: 0000015Dh PD2-EB42CD-ES-x-1: 0000015Dh PD2-EB42CD-M-x-1: 0000015Dh PD2-EB42CD-MS-x-1: 0000015Dh PD2-E421M-E-x-1: 0000009Bh PD2-E421M-ES-x-1: 0000009Bh PD2-E421M-M-x-1: 0000009Bh PD2-E421M-MS-x-1: 0000009Bh PD2-E421L-E-x-1: 0000005Bh PD2-E421L-ES-x-1: 0000005Bh PD2-E421L-M-x-1: 0000005Bh PD2-E421L-MS-x-1: 0000005Bh PD2-E421D-E-x-1: 00000076h PD2-E421D-ES-x-1: 00000076h PD2-E421D-M-x-1: 00000076h PD2-E421D-MS-x-1: 00000076h Subindex 06h Name Absolute Inductance Lq,abs [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39DFEFC7h PD2-EB42MB-ES-x-1: 39DFEFC7h PD2-EB42MB-M-x-1: 39DFEFC7h PD2-EB42MB-MS-x-1: 39DFEFC7h PD2-EB42MD-E-x-1: 3AD877D5h PD2-EB42MD-ES-x-1: 3AD877D5h PD2-EB42MD-M-x-1: 3AD877D5h PD2-EB42MD-MS-x-1: 3AD877D5h PD2-EB42LB-E-x-1: 3987FC31h PD2-EB42LB-ES-x-1: 3987FC31h PD2-EB42LB-M-x-1: 3987FC31h PD2-EB42LB-MS-x-1: 3987FC31h PD2-EB42LD-E-x-1: 3A879D7Dh PD2-EB42LD-ES-x-1: 3A879D7Dh PD2-EB42LD-M-x-1: 3A879D7Dh PD2-EB42LD-MS-x-1: 3A879D7Dh PD2-EB42CD-E-x-1: 3A3F32B1h PD2-EB42CD-ES-x-1: 3A3F32B1h PD2-EB42CD-M-x-1: 3A3F32B1h PD2-EB42CD-MS-x-1: 3A3F32B1h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 07h Name Differential Inductance Ld,diff [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39ADD759h PD2-EB42MB-ES-x-1: 39ADD759h PD2-EB42MB-M-x-1: 39ADD759h PD2-EB42MB-MS-x-1: 39ADD759h PD2-EB42MD-E-x-1: 3AA10286h PD2-EB42MD-ES-x-1: 3AA10286h PD2-EB42MD-M-x-1: 3AA10286h PD2-EB42MD-MS-x-1: 3AA10286h PD2-EB42LB-E-x-1: 39453C75h PD2-EB42LB-ES-x-1: 39453C75h PD2-EB42LB-M-x-1: 39453C75h PD2-EB42LB-MS-x-1: 39453C75h PD2-EB42LD-E-x-1: 3A4807E1h PD2-EB42LD-ES-x-1: 3A4807E1h PD2-EB42LD-M-x-1: 3A4807E1h PD2-EB42LD-MS-x-1: 3A4807E1h PD2-EB42CD-E-x-1: 3A0CC9E9h PD2-EB42CD-ES-x-1: 3A0CC9E9h PD2-EB42CD-M-x-1: 3A0CC9E9h PD2-EB42CD-MS-x-1: 3A0CC9E9h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 08h Name Differential Inductance Lq,diff [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39D92513h PD2-EB42MB-ES-x-1: 39D92513h PD2-EB42MB-M-x-1: 39D92513h PD2-EB42MB-MS-x-1: 39D92513h PD2-EB42MD-E-x-1: 3ACD576Fh PD2-EB42MD-ES-x-1: 3ACD576Fh PD2-EB42MD-M-x-1: 3ACD576Fh PD2-EB42MD-MS-x-1: 3ACD576Fh PD2-EB42LB-E-x-1: 39804453h PD2-EB42LB-ES-x-1: 39804453h PD2-EB42LB-M-x-1: 39804453h PD2-EB42LB-MS-x-1: 39804453h PD2-EB42LD-E-x-1: 3A80ECE2h PD2-EB42LD-ES-x-1: 3A80ECE2h PD2-EB42LD-M-x-1: 3A80ECE2h PD2-EB42LD-MS-x-1: 3A80ECE2h PD2-EB42CD-E-x-1: 3A3527E5h PD2-EB42CD-ES-x-1: 3A3527E5h PD2-EB42CD-M-x-1: 3A3527E5h PD2-EB42CD-MS-x-1: 3A3527E5h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 09h Name Skin-effect Factor Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 386402E1h PD2-EB42MB-ES-x-1: 386402E1h PD2-EB42MB-M-x-1: 386402E1h PD2-EB42MB-MS-x-1: 386402E1h PD2-EB42MD-E-x-1: 38AAAEE1h PD2-EB42MD-ES-x-1: 38AAAEE1h PD2-EB42MD-M-x-1: 38AAAEE1h PD2-EB42MD-MS-x-1: 38AAAEE1h PD2-EB42LB-E-x-1: 389C795Ch PD2-EB42LB-ES-x-1: 389C795Ch PD2-EB42LB-M-x-1: 389C795Ch PD2-EB42LB-MS-x-1: 389C795Ch PD2-EB42LD-E-x-1: 38DAE971h PD2-EB42LD-ES-x-1: 38DAE971h PD2-EB42LD-M-x-1: 38DAE971h PD2-EB42LD-MS-x-1: 38DAE971h PD2-EB42CD-E-x-1: 38B475ECh PD2-EB42CD-ES-x-1: 38B475ECh PD2-EB42CD-M-x-1: 38B475ECh PD2-EB42CD-MS-x-1: 38B475ECh PD2-E421M-E-x-1: 3A48AAB6h PD2-E421M-ES-x-1: 3A48AAB6h PD2-E421M-M-x-1: 3A48AAB6h PD2-E421M-MS-x-1: 3A48AAB6h PD2-E421L-E-x-1: 3A84AF40h PD2-E421L-ES-x-1: 3A84AF40h PD2-E421L-M-x-1: 3A84AF40h PD2-E421L-MS-x-1: 3A84AF40h PD2-E421D-E-x-1: 3AB1A44Dh PD2-E421D-ES-x-1: 3AB1A44Dh PD2-E421D-M-x-1: 3AB1A44Dh PD2-E421D-MS-x-1: 3AB1A44Dh Description The subindices have the following function: 01h: Winding resistance. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 02h: Winding inductance Ld, absolute. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 03h: Interlinking flux. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 04h: Switch-on speed in RPM. Above this speed, the Sensorless Observer is used for the determination of the rotor position in Closed loop. 05h: Switch-off speed in RPM. If the speed falls below this threshold, the Sensorless Observer is switched off and the encoder is used for the determination of the rotor position in Closed Loop or the controller switches back to Open Loop. 06h: Winding inductance Lq, absolute. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 07h: Winding inductance Ld, differential. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 08h: Winding inductance Lq, differential. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 09h: Skin effect factor. Factor for the compensation of the skin effect. The value depends on the motor and is pre-configured.
Function Contains measurement and configuration values that are necessary for the sensorless control in Closed Loop and the current control in Open Loop. The values depend on the motor and is pre-configured, do not change them. Should they be changed, set all parameters of the category Sensors back to default zurück (see Saving objects ) .
Object description Index 3380h Object name Feedback Sensorless Observer Object Code ARRAY Data type UNSIGNED32 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v2013-B726332 Change history Firmware version FIR-v2013-B726332: The number of entries was changed from 7 to 6. Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Firmware Version FIR-v2602: Object renamed and adjusted to the new Sensorless Observer.
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 09h Subindex 01h Name Motor Resistance R [Ω] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 3F1C0A58h PD2-EB42MB-ES-x-1: 3F1C0A58h PD2-EB42MB-M-x-1: 3F1C0A58h PD2-EB42MB-MS-x-1: 3F1C0A58h PD2-EB42MD-E-x-1: 4001C30Dh PD2-EB42MD-ES-x-1: 4001C30Dh PD2-EB42MD-M-x-1: 4001C30Dh PD2-EB42MD-MS-x-1: 4001C30Dh PD2-EB42LB-E-x-1: 3EAB16C9h PD2-EB42LB-ES-x-1: 3EAB16C9h PD2-EB42LB-M-x-1: 3EAB16C9h PD2-EB42LB-MS-x-1: 3EAB16C9h PD2-EB42LD-E-x-1: 3F9E65BEh PD2-EB42LD-ES-x-1: 3F9E65BEh PD2-EB42LD-M-x-1: 3F9E65BEh PD2-EB42LD-MS-x-1: 3F9E65BEh PD2-EB42CD-E-x-1: 3F5CF39Ch PD2-EB42CD-ES-x-1: 3F5CF39Ch PD2-EB42CD-M-x-1: 3F5CF39Ch PD2-EB42CD-MS-x-1: 3F5CF39Ch PD2-E421M-E-x-1: 3FA396B6h PD2-E421M-ES-x-1: 3FA396B6h PD2-E421M-M-x-1: 3FA396B6h PD2-E421M-MS-x-1: 3FA396B6h PD2-E421L-E-x-1: 3FF818E6h PD2-E421L-ES-x-1: 3FF818E6h PD2-E421L-M-x-1: 3FF818E6h PD2-E421L-MS-x-1: 3FF818E6h PD2-E421D-E-x-1: 404E8460h PD2-E421D-ES-x-1: 404E8460h PD2-E421D-M-x-1: 404E8460h PD2-E421D-MS-x-1: 404E8460h Subindex 02h Name Absolute Inductance Ld,abs [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39B38F0Ch PD2-EB42MB-ES-x-1: 39B38F0Ch PD2-EB42MB-M-x-1: 39B38F0Ch PD2-EB42MB-MS-x-1: 39B38F0Ch PD2-EB42MD-E-x-1: 3AA9BBFAh PD2-EB42MD-ES-x-1: 3AA9BBFAh PD2-EB42MD-M-x-1: 3AA9BBFAh PD2-EB42MD-MS-x-1: 3AA9BBFAh PD2-EB42LB-E-x-1: 39511AC0h PD2-EB42LB-ES-x-1: 39511AC0h PD2-EB42LB-M-x-1: 39511AC0h PD2-EB42LB-MS-x-1: 39511AC0h PD2-EB42LD-E-x-1: 3A526908h PD2-EB42LD-ES-x-1: 3A526908h PD2-EB42LD-M-x-1: 3A526908h PD2-EB42LD-MS-x-1: 3A526908h PD2-EB42CD-E-x-1: 3A1497DBh PD2-EB42CD-ES-x-1: 3A1497DBh PD2-EB42CD-M-x-1: 3A1497DBh PD2-EB42CD-MS-x-1: 3A1497DBh PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 03h Name Permanent Magnet Flux Linkage [V/rad/s] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 3C47B8A6h PD2-EB42MB-ES-x-1: 3C47B8A6h PD2-EB42MB-M-x-1: 3C47B8A6h PD2-EB42MB-MS-x-1: 3C47B8A6h PD2-EB42MD-E-x-1: 3CC51E1Fh PD2-EB42MD-ES-x-1: 3CC51E1Fh PD2-EB42MD-M-x-1: 3CC51E1Fh PD2-EB42MD-MS-x-1: 3CC51E1Fh PD2-EB42LB-E-x-1: 3C4FE73Ah PD2-EB42LB-ES-x-1: 3C4FE73Ah PD2-EB42LB-M-x-1: 3C4FE73Ah PD2-EB42LB-MS-x-1: 3C4FE73Ah PD2-EB42LD-E-x-1: 3CCB8A70h PD2-EB42LD-ES-x-1: 3CCB8A70h PD2-EB42LD-M-x-1: 3CCB8A70h PD2-EB42LD-MS-x-1: 3CCB8A70h PD2-EB42CD-E-x-1: 3CCDE85Ah PD2-EB42CD-ES-x-1: 3CCDE85Ah PD2-EB42CD-M-x-1: 3CCDE85Ah PD2-EB42CD-MS-x-1: 3CCDE85Ah PD2-E421M-E-x-1: 3B5333F7h PD2-E421M-ES-x-1: 3B5333F7h PD2-E421M-M-x-1: 3B5333F7h PD2-E421M-MS-x-1: 3B5333F7h PD2-E421L-E-x-1: 3BB54889h PD2-E421L-ES-x-1: 3BB54889h PD2-E421L-M-x-1: 3BB54889h PD2-E421L-MS-x-1: 3BB54889h PD2-E421D-E-x-1: 3C0B3B01h PD2-E421D-ES-x-1: 3C0B3B01h PD2-E421D-M-x-1: 3C0B3B01h PD2-E421D-MS-x-1: 3C0B3B01h Subindex 04h Name Upper Speed Hysteresis Threshold [rpm] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000230h PD2-EB42MB-E-x-1: 000002BCh PD2-EB42MB-ES-x-1: 000002BCh PD2-EB42MB-M-x-1: 000002BCh PD2-EB42MB-MS-x-1: 000002BCh PD2-EB42MD-E-x-1: 000002BCh PD2-EB42MD-ES-x-1: 000002BCh PD2-EB42MD-M-x-1: 000002BCh PD2-EB42MD-MS-x-1: 000002BCh PD2-EB42LB-E-x-1: 000002BCh PD2-EB42LB-ES-x-1: 000002BCh PD2-EB42LB-M-x-1: 000002BCh PD2-EB42LB-MS-x-1: 000002BCh PD2-EB42LD-E-x-1: 000002BCh PD2-EB42LD-ES-x-1: 000002BCh PD2-EB42LD-M-x-1: 000002BCh PD2-EB42LD-MS-x-1: 000002BCh PD2-EB42CD-E-x-1: 000002BCh PD2-EB42CD-ES-x-1: 000002BCh PD2-EB42CD-M-x-1: 000002BCh PD2-EB42CD-MS-x-1: 000002BCh PD2-E421M-E-x-1: 0000012Ch PD2-E421M-ES-x-1: 0000012Ch PD2-E421M-M-x-1: 0000012Ch PD2-E421M-MS-x-1: 0000012Ch PD2-E421L-E-x-1: 0000012Ch PD2-E421L-ES-x-1: 0000012Ch PD2-E421L-M-x-1: 0000012Ch PD2-E421L-MS-x-1: 0000012Ch PD2-E421D-E-x-1: 000001F4h PD2-E421D-ES-x-1: 000001F4h PD2-E421D-M-x-1: 000001F4h PD2-E421D-MS-x-1: 000001F4h Subindex 05h Name Lower Speed Hysteresis Threshold [rpm] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000154h PD2-EB42MB-E-x-1: 00000167h PD2-EB42MB-ES-x-1: 00000167h PD2-EB42MB-M-x-1: 00000167h PD2-EB42MB-MS-x-1: 00000167h PD2-EB42MD-E-x-1: 0000016Ch PD2-EB42MD-ES-x-1: 0000016Ch PD2-EB42MD-M-x-1: 0000016Ch PD2-EB42MD-MS-x-1: 0000016Ch PD2-EB42LB-E-x-1: 00000159h PD2-EB42LB-ES-x-1: 00000159h PD2-EB42LB-M-x-1: 00000159h PD2-EB42LB-MS-x-1: 00000159h PD2-EB42LD-E-x-1: 00000161h PD2-EB42LD-ES-x-1: 00000161h PD2-EB42LD-M-x-1: 00000161h PD2-EB42LD-MS-x-1: 00000161h PD2-EB42CD-E-x-1: 0000015Dh PD2-EB42CD-ES-x-1: 0000015Dh PD2-EB42CD-M-x-1: 0000015Dh PD2-EB42CD-MS-x-1: 0000015Dh PD2-E421M-E-x-1: 0000009Bh PD2-E421M-ES-x-1: 0000009Bh PD2-E421M-M-x-1: 0000009Bh PD2-E421M-MS-x-1: 0000009Bh PD2-E421L-E-x-1: 0000005Bh PD2-E421L-ES-x-1: 0000005Bh PD2-E421L-M-x-1: 0000005Bh PD2-E421L-MS-x-1: 0000005Bh PD2-E421D-E-x-1: 00000076h PD2-E421D-ES-x-1: 00000076h PD2-E421D-M-x-1: 00000076h PD2-E421D-MS-x-1: 00000076h Subindex 06h Name Absolute Inductance Lq,abs [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39DFEFC7h PD2-EB42MB-ES-x-1: 39DFEFC7h PD2-EB42MB-M-x-1: 39DFEFC7h PD2-EB42MB-MS-x-1: 39DFEFC7h PD2-EB42MD-E-x-1: 3AD877D5h PD2-EB42MD-ES-x-1: 3AD877D5h PD2-EB42MD-M-x-1: 3AD877D5h PD2-EB42MD-MS-x-1: 3AD877D5h PD2-EB42LB-E-x-1: 3987FC31h PD2-EB42LB-ES-x-1: 3987FC31h PD2-EB42LB-M-x-1: 3987FC31h PD2-EB42LB-MS-x-1: 3987FC31h PD2-EB42LD-E-x-1: 3A879D7Dh PD2-EB42LD-ES-x-1: 3A879D7Dh PD2-EB42LD-M-x-1: 3A879D7Dh PD2-EB42LD-MS-x-1: 3A879D7Dh PD2-EB42CD-E-x-1: 3A3F32B1h PD2-EB42CD-ES-x-1: 3A3F32B1h PD2-EB42CD-M-x-1: 3A3F32B1h PD2-EB42CD-MS-x-1: 3A3F32B1h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 07h Name Differential Inductance Ld,diff [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39ADD759h PD2-EB42MB-ES-x-1: 39ADD759h PD2-EB42MB-M-x-1: 39ADD759h PD2-EB42MB-MS-x-1: 39ADD759h PD2-EB42MD-E-x-1: 3AA10286h PD2-EB42MD-ES-x-1: 3AA10286h PD2-EB42MD-M-x-1: 3AA10286h PD2-EB42MD-MS-x-1: 3AA10286h PD2-EB42LB-E-x-1: 39453C75h PD2-EB42LB-ES-x-1: 39453C75h PD2-EB42LB-M-x-1: 39453C75h PD2-EB42LB-MS-x-1: 39453C75h PD2-EB42LD-E-x-1: 3A4807E1h PD2-EB42LD-ES-x-1: 3A4807E1h PD2-EB42LD-M-x-1: 3A4807E1h PD2-EB42LD-MS-x-1: 3A4807E1h PD2-EB42CD-E-x-1: 3A0CC9E9h PD2-EB42CD-ES-x-1: 3A0CC9E9h PD2-EB42CD-M-x-1: 3A0CC9E9h PD2-EB42CD-MS-x-1: 3A0CC9E9h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 08h Name Differential Inductance Lq,diff [H] Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 39D92513h PD2-EB42MB-ES-x-1: 39D92513h PD2-EB42MB-M-x-1: 39D92513h PD2-EB42MB-MS-x-1: 39D92513h PD2-EB42MD-E-x-1: 3ACD576Fh PD2-EB42MD-ES-x-1: 3ACD576Fh PD2-EB42MD-M-x-1: 3ACD576Fh PD2-EB42MD-MS-x-1: 3ACD576Fh PD2-EB42LB-E-x-1: 39804453h PD2-EB42LB-ES-x-1: 39804453h PD2-EB42LB-M-x-1: 39804453h PD2-EB42LB-MS-x-1: 39804453h PD2-EB42LD-E-x-1: 3A80ECE2h PD2-EB42LD-ES-x-1: 3A80ECE2h PD2-EB42LD-M-x-1: 3A80ECE2h PD2-EB42LD-MS-x-1: 3A80ECE2h PD2-EB42CD-E-x-1: 3A3527E5h PD2-EB42CD-ES-x-1: 3A3527E5h PD2-EB42CD-M-x-1: 3A3527E5h PD2-EB42CD-MS-x-1: 3A3527E5h PD2-E421M-E-x-1: 3B29B43Bh PD2-E421M-ES-x-1: 3B29B43Bh PD2-E421M-M-x-1: 3B29B43Bh PD2-E421M-MS-x-1: 3B29B43Bh PD2-E421L-E-x-1: 3B9D15D3h PD2-E421L-ES-x-1: 3B9D15D3h PD2-E421L-M-x-1: 3B9D15D3h PD2-E421L-MS-x-1: 3B9D15D3h PD2-E421D-E-x-1: 3C2FA3F2h PD2-E421D-ES-x-1: 3C2FA3F2h PD2-E421D-M-x-1: 3C2FA3F2h PD2-E421D-MS-x-1: 3C2FA3F2h Subindex 09h Name Skin-effect Factor Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h PD2-EB42MB-E-x-1: 386402E1h PD2-EB42MB-ES-x-1: 386402E1h PD2-EB42MB-M-x-1: 386402E1h PD2-EB42MB-MS-x-1: 386402E1h PD2-EB42MD-E-x-1: 38AAAEE1h PD2-EB42MD-ES-x-1: 38AAAEE1h PD2-EB42MD-M-x-1: 38AAAEE1h PD2-EB42MD-MS-x-1: 38AAAEE1h PD2-EB42LB-E-x-1: 389C795Ch PD2-EB42LB-ES-x-1: 389C795Ch PD2-EB42LB-M-x-1: 389C795Ch PD2-EB42LB-MS-x-1: 389C795Ch PD2-EB42LD-E-x-1: 38DAE971h PD2-EB42LD-ES-x-1: 38DAE971h PD2-EB42LD-M-x-1: 38DAE971h PD2-EB42LD-MS-x-1: 38DAE971h PD2-EB42CD-E-x-1: 38B475ECh PD2-EB42CD-ES-x-1: 38B475ECh PD2-EB42CD-M-x-1: 38B475ECh PD2-EB42CD-MS-x-1: 38B475ECh PD2-E421M-E-x-1: 3A48AAB6h PD2-E421M-ES-x-1: 3A48AAB6h PD2-E421M-M-x-1: 3A48AAB6h PD2-E421M-MS-x-1: 3A48AAB6h PD2-E421L-E-x-1: 3A84AF40h PD2-E421L-ES-x-1: 3A84AF40h PD2-E421L-M-x-1: 3A84AF40h PD2-E421L-MS-x-1: 3A84AF40h PD2-E421D-E-x-1: 3AB1A44Dh PD2-E421D-ES-x-1: 3AB1A44Dh PD2-E421D-M-x-1: 3AB1A44Dh PD2-E421D-MS-x-1: 3AB1A44Dh
Description The subindices have the following function: 01h: Winding resistance. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 02h: Winding inductance Ld, absolute. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 03h: Interlinking flux. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 04h: Switch-on speed in RPM. Above this speed, the Sensorless Observer is used for the determination of the rotor position in Closed loop. 05h: Switch-off speed in RPM. If the speed falls below this threshold, the Sensorless Observer is switched off and the encoder is used for the determination of the rotor position in Closed Loop or the controller switches back to Open Loop. 06h: Winding inductance Lq, absolute. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 07h: Winding inductance Ld, differential. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 08h: Winding inductance Lq, differential. Float value, shown here as UNSIGNED32. The value depends on the motor and is pre-configured. 09h: Skin effect factor. Factor for the compensation of the skin effect. The value depends on the motor and is pre-configured.
